TR-Electronic C H-110 Series User Manual
  1. Manuals
  2. Brands
  3. TR-Electronic Manuals
  4. Media Converter
  5. C H-110 Series
  6. User manual

TR-Electronic C H-110 Series User Manual

Ethercat, incremental, single-turn/multi-turn absolute rotary encoder with ethercat and optional incremental interface
Hide thumbs Also See for C H-110 Series:
Table of Contents

Advertisement

Available languages

Available languages

Quick Links

Download this manual
•
Software/Support DVD: 490-01001
- Soft-No.: 490-00423
Benutzerhandbuch / User Manual
Single-Turn / Multi-Turn
Absolute rotary encoder series CxH-110 with EtherCAT and optional
Incremental interface
•
Zusätzliche Sicherheitshinweise
•
Installation
•
Inbetriebnahme
•
Konfiguration / Parametrierung
•
Fehlerursachen und Abhilfen
Rotary
Linear Encoders
Encoders
•
Additional safety instructions
•
Installation
•
Commissioning
•
Configuration / Parameterization
•
Cause of faults and remedies
System
Motion
D
Seite 2 - 88
GB
Page 89 - 176
43777F / 4377AC / 4377AD / 4377AE

Advertisement

Chapters

Table of Contents
loading
Need help?

Need help?

Do you have a question about the C H-110 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for TR-Electronic C H-110 Series

Summary of Contents for TR-Electronic C H-110 Series

  • Page 1 Rotary System Linear Encoders Motion Encoders Seite 2 - 88 Page 89 - 176 • Software/Support DVD: 490-01001 - Soft-No.: 490-00423 43777F / 4377AC / 4377AD / 4377AE Benutzerhandbuch / User Manual Single-Turn / Multi-Turn Absolute rotary encoder series CxH-110 with EtherCAT and optional Incremental interface •...
  • Page 2 Alle anderen genannten Produkte, Namen und Logos dienen ausschließlich Informationszwecken und können Warenzeichen ihrer jeweiligen Eigentümer sein, ohne dass eine besondere Kennzeichnung erfolgt.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 176...

  • Page 3: Table Of Contents

    5 Inkremental – Schnittstelle (optional) ................... 27 5.1 Kabelspezifikation ........................27 5.2 Datenübertragung ........................27  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...
  • Page 4 10.2.2.2 Objekt 2003 – 2004h: TR-Umdrehungen Zähler / Nenner ............60 10.2.3 Objekt 2005h: TR-Speed unit ................63 10.2.4 Objekt 2006h: TR-Zusätzliche Parameter/Kommandos (gerätespezifisch) ..63  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 176...
  • Page 5 12.4.1 Emergency Error Codes ..................86 12.4.2 Error Register ......................86 12.5 Sonstige Störungen ......................87  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 6: Änderungs-Index

    Einzeldateien Funktionsumfang der optionalen Inkrementalschnittstelle angepasst 25.07.2013 Skalierungsparameter angepasst 07.10.2013  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 7: Allgemeines

    Benutzerhandbuch  und die bei der Lieferung beiliegend Montageanleitung TR-ECE-BA-DGB-0081  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 7 of 176...

  • Page 8: Referenzen

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 9: Verwendete Abkürzungen / Begriffe

    Zugriff auf die Objekt-Datenliste eines Gerätes. Extensible Markup Language, Beschreibungsdatei für die Inbetriebnahme des Mess-Systems.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 10: Zusätzliche Sicherheitshinweise

    Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 11: Organisatorische Maßnahmen

    Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des Mess-Systems, tätig werdendes Personal.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 12: Technische Daten

    DIN EN 61000-6-2 Störaussendung: ........DIN EN 61000-6-3 * parametrierbar über EtherCAT  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 13: Ethercat Informationen

    Kommunikation eine logische Ringstruktur. Da Fast-Ethernet mit Voll-Duplex arbeitet, ergibt sich auch physikalisch eine Ringstruktur. Abbildung 1: EtherCAT-Funktionsprinzip  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 14: Protokoll

    Informationen zu einem lokalen Zeitpunkt der Datenerfassung liefern. Durch das System hängt die Genauigkeit einer Geschwindigkeitsberechnung nicht mehr vom Jitter des Kommunikationssystems ab.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 176...

  • Page 15: Geräteprofil

    Protokoll, und damit das vom CANopen her bekannte „Device Profile for Encoder“, CiA DS-406. Abbildung 3: CANopen over EtherCAT Kommunikationsmechanismus  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 16: Canopen Over Ethercat (Coe)

    Abbildung 5: EtherCAT eingeordnet im ISO/OSI-Schichtenmodell EN 50325-4: Industrielle-Kommunikations-Systeme, basierend auf ISO 11898 (CAN) für Controller-Device Interfaces. Teil 4: CANopen.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 17: Objektverzeichnis

    Wichtige Merkmale von SDO und PDO Abbildung 7: Gegenüberstellung von PDO/SDO-Eigenschaften  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 18: Kompatibilität Zum Cia Ds-301 Kommunikationsprofil

    „Download SDO Segment” Request / „Upload SDO Segment” Response kann mehr als 7 Byte Daten beinhalten Download und Upload aller Sub-Indices auf einmal  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 176...

  • Page 19: Übertragung Von Sdo Nachrichten

    Über diese Dienste können jeweils bis zu vier Byte geschrieben, bzw. bis zu vier Byte gelesen werden. Für die meisten Objekte ist dies ausreichend.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...
  • Page 20 übertragen, welche nicht mit der Initiate SDO Upload Dienstantwort übertragen werden konnten. Der Server startet so viele Upload SDO Segment Dienste, bis alle Daten vom Server übertragen worden sind.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 176...

  • Page 21: Canopen Over Ethercat Protokoll

    2 Byte schreiben SDO Request 0x2F 1 Byte schreiben SDO Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 21 of 176...

  • Page 22: Initiate Sdo Download Expedited Response

    Im Fall eines Fehlers (SDO-Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 84.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 176...

  • Page 23: Initiate Sdo Upload Expedited Request

    Aus dem obigen Protokoll lässt sich folgendes SDO-Lesetelegramm ableiten: Bedeutung Gültig für 0x40 Leseanforderung SDO Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 23 of 176...

  • Page 24: Initiate Sdo Upload Expedited Response

    Im Fall eines Fehlers (SDO-Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 84.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 176...

  • Page 25: Pdo-Mapping

    Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 26: Weitere Informationen

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 27: Inkremental - Schnittstelle (Optional)

    Mit einem zusätzlichen Nullimpuls kann der Zähler einer externen Steuerung rückgesetzt, und damit der Referenzpunkt Mechanik - Steuerung definiert werden. Abbildung 9: Inkremental-Signale  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 28: Installation / Inbetriebnahmevorbereitung

    Normen und Richtlinien zu beachten! Insbesondere sind die EMV-Richtlinie sowie die Schirmungs- und Erdungsrichtlinien in den jeweils gültigen Fassungen zu beachten!  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 176...

  • Page 29: Anschluss

    15 21 26 1  Harting 21 03 281 1405 HARAX M12-L  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 29 of 176...
  • Page 30 Geräte verwenden! Für die Versorgungsspannung und die Inkrementalsignale sind paarweise verdrillte und geschirmte Kabel zu verwenden !  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 31: Einschalten Der Versorgungsspannung

    System während der Dienst-Ausführung keine plausiblen Werte ausgibt. Dies gilt für die Zustände SAFE-OPERATIONAL und OPERATIONAL. In der Regel werden die Mailbox-Zugriffe über SDO-Anforderungen ausgelöst.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 32: Inbetriebnahme

    Entsprechende Maßnahmen im Fehlerfall siehe Kapitel „Optische Anzeigen“, Seite 82.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 33: Betriebsarten

    Zeit ausgegeben. Die Einstellungen hierfür werden im EtherCAT- Master vorgenommen. Vom Mess-System werden die Synchronisationssignale „SYNC0“ und „SYNC1“ unterstützt.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 34: Kommunikationsspezifische Standard-Objekte (Cia Ds-301)

    ARRAY Unsigned16 Parameter (Input) Tabelle 5: Kommunikationsspezifische Standard-Objekte Little-Endian-Format Big-Endian-Format  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 35: Objekt 1000H: Gerätetyp

    PDO Mapping nein Wert " ", abhängig von der Geräteausführung  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 35 of 176...

  • Page 36: Objekt 1009H: Hersteller Hardwareversion

    PDO Mapping nein " ", abhängig von der Geräteausführung Wert  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 37: Objekt 1010H: Parameter Abspeichern

    Speicherung fehl, antwortet das Gerät mit Abbruch der Übertragung: Fehlercode 0606 0000h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Speicherung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020h.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 38: Objekt 1011H: Wiederherstellung Der Parameter-Standardwerte

    Abbruch der Übertragung: Fehlercode 0606 000 h. Wurde eine falsche Signatur geschrieben, verweigert das Gerät die Wiederherstellung und antwortet mit Abbruch der Übertragung: Fehlercode 0800 0020 h.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 176...

  • Page 39: Objekt 1018H: Identity Objekt

    UNSIGNED32 Revision Number gerätespezifisch UNSIGNED32 Serial Number gerätespezifisch UNSIGNED32  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 39 of 176...

  • Page 40: Aufbau Der Mappingparameter

    Byte 1 Byte 0 Byte 1 Byte 2 Byte 3  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 41: Objekt 1A01H: 2 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 41 of 176...

  • Page 42: Objekt 1A02H: 3 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 43: Objekt 1A03H: 4 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 43 of 176...

  • Page 44: Objekt 1A04H: 5 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 45: Objekt 1A10H:11 Transmit Pdo Mapping

    Byte 1 Byte 0 Byte 1 Byte 2 Byte 3  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 45 of 176...

  • Page 46: Objekt 1A11H: 12 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 47: Objekt 1A12H: 13 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 47 of 176...

  • Page 48: Objekt 1A13H: 14 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 49: Objekt 1A14H: 15 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 49 of 176...

  • Page 50: Objekt 1C00H: Sync Manager Communication Type

    PDO Mapping nein 1: Mailbox empfangen (Master --> Slave) Wert  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...
  • Page 51 Zugriff PDO Mapping nein Wert 4: Prozessdaten-Eingang (Slave --> Master)  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 51 of 176...

  • Page 52: Objekt 1C13H: Sync Manager Channel 3 (Prozess-Daten-Eingang)

    0x1A013: TxPDO 14 0x1A014: TxPDO 15 Default 0x1A00: TxPDO 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 53: Objekt 1C33H: Sync Manager 3, Parameter

    PDO Mapping Min. Zeit zwischen zwei SM2/3 Ereignissen in ns. Wert  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 53 of 176...
  • Page 54 Wert vom lokalen Speicher zum Sync Manager benötigt, bevor die Daten für den EtherCAT verfügbar sind.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 176 TR - ECE - BA - DGB - 0080 - 05...
  • Page 55 Nur relevant für Synchronisations-Typ = 2 und Wert untergeordneten lokalem Zyklus.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 55 of 176...

  • Page 56: Hersteller- Und Profilspezifische Objekte (Cia Ds-406)

    TR Objekte CiA DS-406 Objekte nur bei optionaler Inkremental Schnittstelle vorhanden  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 57: Objekt 2000H: Mode-Umschaltung Tr / Cia Ds-406

    0x6002, Gesamtmesslänge in Schritten 0x2003, Anzahl Umdrehungen - Zähler 0x2004, Anzahl Umdrehungen - Nenner 0x2005, Geschwindigkeitsauflösung  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 58: Tr - Mode

    Untergrenze 0x0000 = steigend Obergrenze 0x0001 = fallend Default 0x0000  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 59: Skalierungsparameter

    Gesamtmesslänge in Schritten = Anzahl Schritte pro Umdrehung * Anzahl Umdrehungen Zur Berechnung können die Parameter Schritte/Umdr. und Anzahl Umdrehungen vom Typenschild des Mess-Systems abgelesen werden.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 60: Objekt 2003 - 2004H: Tr-Umdrehungen Zähler / Nenner

    Anzahl der Umdrehungen: Anzahl Umdrehungen Zähler Anzahl der Umdrehungen = Anzahl Umdrehungen Nenner  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 176 TR - ECE - BA - DGB - 0080 - 05...
  • Page 61 Mess-System bei einer geringfügigen Überschreitung des Verfahrweges keinen Istwertsprung (Nullübergang) erzeugt. Der Einfachheit halber kann auch der volle Umdrehungsbereich des Mess-Systems programmiert werden.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...
  • Page 62 = 1348,073499 Schritte / Umdr. * 1 Umdrehung Nenner = 5521709 Schritte (abgerundet)  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 63: Objekt 2005H: Tr-Speed Unit

    TR / Additional Parameter/Command UNSIGNED32 Datentyp Optional Kategorie Zugriff PDO Mapping nein  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 63 of 176...

  • Page 64: Objekt 2400H: Phase K1/K2

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 65: Objekt 2402H: K0 Condition

    Beschreibung Datentyp UNSIGNED16 Kategorie Optional Zugriff nein PDO Mapping Default  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 65 of 176...

  • Page 66: Objekt 3101H: Eingang

    * Wenn die Skalierungs-Parametrierung keine Ganzzahl in „Schritten/Umdrehung“ oder „Anzahl Umdrehungen“ ergibt, wird ein gerundeter Singleturn- und Multiturnwert ausgegeben.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 67: Cia Ds-406 - Mode

    Untergrenze 0x0000 = steigend Obergrenze 0x0001 = fallend Default 0x0000  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 67 of 176...

  • Page 68: Skalierungsparameter

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 69: Objekt 6002H: Gesamt Messlänge In Schritten

    Die „Anzahl Umdrehungen“ darf eine Kommazahl sein, die sich mit einem Bruch in folgendem Bereich darstellen lässt: 1…256000 = Anzahl Umdrehungen 1…16384  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 69 of 176...
  • Page 70 Mess-System Erreichen maximalen mechanischen Verfahrweges einen Nullübergang generiert.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 71: Objekt 6003H: Presetwert

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 71 of 176...

  • Page 72: Objekt 6030H: Geschwindigkeit

    (-32768…+32767) über- oder unterschritten, werden die Grenzwerte (0x7FFF oder 0x8000) ausgegeben.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 73: Mess-System Diagnose

    2 Standardwert: 4096 = 1000h Schritte pro Umdrehung (abhängig von der Kapazität, siehe Typenschild).  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 74: Objekt 6502H: Anzahl Der Umdrehungen

    Datentyp UNSIGNED32 Mandatory Kategorie Zugriff PDO Mapping nein Obergrenze gerätespezifisch  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 75: Objekt 6503H: Alarme

    EE-PROM-Fehler Das Mess-System hat eine falsche Checksumme im EE-Prom-Bereich erkannt, oder ein Schreibvorgang in das EE-Prom konnte nicht erfolgreich abgeschlossen werden.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 76: Objekt 6504H: Unterstützte Alarme

    Reserviert für weitere Verwendung EE-PROM-Fehler Nein herstellerspezifische Funktionen herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 77: Objekt 6505H: Warnungen

    - Temperaturwarnung: Alle Warnungen werden automatisch gelöscht, sobald sich die Betriebsparameter wieder im Normalbereich befinden.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 78: Objekt 6506H: Unterstützte Warnungen

    Reserviert für weitere Verwendung Temperaturwarnung Nein herstellerspezifische Funktionen herstellerspezifische Funktionen herstellerspezifische Funktionen  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 79: Objekt 6507H: Profil- Und Softwareversion

    Byte 3 bis 2 bis 2 bis 2 bis 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 79 of 176...

  • Page 80: Objekt 6508H: Betriebsdauer

    Operating Time UNSIGNED32 Datentyp Optional Kategorie Zugriff PDO Mapping nein  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 81: Vom Mess-System Unterstütze Objekte Auslesen

    ● Programmreiter CoE – Online auswählen ● Button Erweitert klicken ● Radio-Button Online... auswählen ● --> Alle Objekte  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 82: Fehlerursachen Und Abhilfen

    = 1, Speicherbereich im internen Mess-System getauscht werden. EE-PROM defekt EE-PROM-Fehler  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 83: Abort Sdo Transfer Request Protocol

    Abort Code DWORD Abort Code Tabelle 7: Abort SDO Transfer Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 83 of 176...

  • Page 84: Sdo Abort Codes

    0x08 00 00 23 Dynamischer Erstellungsfehler des Objektverzeichnisses, oder kein Objektverzeichnis vorhanden Tabelle 8: SDO Abort Codes  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 85: Emergency Request Protocol

    Error Code F000-FFFF: Herstellerspezifisches Fehlerfeld reserviert BYTE[n-10] noch nicht spezifiziert Tabelle 9: Emergency Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 85 of 176...

  • Page 86: Emergency Error Codes

    Geräteprofil-spezifisch reserviert, immer 0 Hersteller-spezifisch Tabelle 11: Aufbau des Error Registers  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 87: Sonstige Störungen

    Welle. Wenn der Fehler trotz dieser Maßnahme weiterhin der Welle oder einen auftritt, muss das Mess-System getauscht werden. Defekt der Abtastung.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...
  • Page 88 Fehlerursachen und Abhilfen  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...
  • Page 89 User Manual CxH-110 EtherCAT + optional Incremental  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 89 of 176...
  • Page 90 All other specified products, names and logos serve exclusively for information purposes and may be trademarks of their respective owners, without any special marking to indicate this.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 176...

  • Page 91: Contents

    5 Incremental – interface (optional) ....................115 5.1 Cable definition ........................115 5.2 Data transmission ........................115  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...
  • Page 92 10.2.2.2 Object 2003 - 2004h: TR-Number of revolutions numerator / denominator ......149 10.2.3 Object 2005h: TR-Speed unit ................152 10.2.4 Object 2006h: TR-Additional Parameter/Commands (device specific) ....152  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 176...
  • Page 93 12.4.1 Emergency Error Codes ..................175 12.4.2 Error Register ......................175 12.5 Miscellaneous faults ......................176  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 94: Revision Index

    The range of functions of the optional incremental interface edited 07/25/2013 Scaling parameter edited 10/07/2013  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 95: General Information

     this User Manual,  and the Assembly Instructions TR-ECE-BA-DGB-0081 provided at delivery  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 95 of 176...

  • Page 96: References

    IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 97: Abbreviations Used / Terminology

    Extensible Markup Language, description file for commissioning the measuring system.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 98: Additional Safety Instructions

    Assembly Instructions, particularly the chapter "Basic Safety Instructions" contained therein, must have been read and understood prior to commencement of work  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 176...

  • Page 99: Organizational Measures

    User Manual, particularly the chapter "Additional Safety Instructions". This particularly applies for personnel who are only deployed occasionally, e.g. in the parameterization of the measurement system.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 100: Technical Data

    Transient emissions ........DIN EN 61000-6-3: 2007 * parametrizable via EtherCAT  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 101: Ethercat Information

    As Fast-Ethernet works with Full Duplex, a physical ring structure also results. Figure 1: EtherCAT functional principle  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 102: Protocol

    Through the system, the accuracy of a speed calculation no longer depends on the jitter of the communication system.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 176...

  • Page 103: Device Profile

    "Device Profile for Encoder", CiA DS-406, known from CANopen. Figure 3: CANopen over EtherCAT communication mechanism  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 104: Canopen Over Ethercat (Coe)

    Figure 5: EtherCAT organized in the ISO/OSI layer model EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces. Part 4: CANopen.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 176...

  • Page 105: Object Dictionary

    Important features of SDO and PDO Figure 7: Comparison of PDO/SDO characteristics  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 106: Compatibility With The Cia Ds-301 Communication Profile

    "Download SDO Segment" Request / "Upload SDO Segment" Response can contain more than 7 bytes of data Download and upload of all sub-indices at once  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 176...

  • Page 107: Transmission Of Sdo Messages

    Initiate SDO Upload Expedited are dealt with in more detail below. Up to four bytes can be written and up to four bytes read via these services. This is sufficient for most objects.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...
  • Page 108 Initiate SDO Upload service response. The server starts as many Upload SDO Segment services as are required to transfer all data from the server.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 176...

  • Page 109: Canopen Over Ethercat Protocol

    Write 2 byte SDO Request 0x2F Write 1 byte SDO Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 109 of 176...

  • Page 110: Initiate Sdo Download Expedited Response

    In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 173.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 111: Initiate Sdo Upload Expedited Request

    The following SDO read frame can be derived from the above protocol: Meaning Valid for 0x40 Read request SDO Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 111 of 176...

  • Page 112: Initiate Sdo Upload Expedited Response

    In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 173.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 113: Pdo Mapping

    Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 114: Further Information

    + 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 115: Incremental - Interface (Optional)

    The counter of an external control system can be reset with the additional zero pulse in order to define the mechanical control reference point. Figure 9: Incremental signals  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 116: Installation / Preparation For Commissioning

    In particular, the applicable EMC directive and the shielding and grounding directives must be observed!  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 176...

  • Page 117: Connection

    15 21 26 1  Harting 21 03 281 1405 HARAX M12-L  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 117 of 176...
  • Page 118 The Supply Voltage X3/X4 is internal connected, not for supply for further devices! Shielded twisted pair cables must be used for the supply and incremental signals !  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 176...

  • Page 119: Switching On The Supply Voltage

    This applies for the SAFE-OPERATIONAL and OPERATIONAL states. Mailbox access is generally triggered by SDO requests.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 120: Commissioning

    Flickering, 10 Hz INIT state For appropriate measures in case of error see chapter "Optical displays" page 171.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 121: Operating Modes

    In "Distributed Clocks" operating mode, the process data is output synchronously to a self-defined time. The relevant settings are made in the EtherCAT master. By the measuring system the synchronization signals "SYNC0" and "SYNC1" are supported.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 122: Communication-Specific Standard Objects (Cia Ds-301)

    Table 5: Communication-specific standard objects Little Endian format Big Endian format  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 123: Object 1000H: Device Type

    Access PDO mapping Value " ", depending on the device type  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 123 of 176...

  • Page 124: Object 1009H: Manufacturer Hardware Version

    Access PDO mapping " ", depending on the device type Value  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 125: Object 1010H: Store Parameters

    Error code 0606 0000h. If a wrong signature is written, the device refuses to store and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 126: Object 1011H: Restore Default Parameter Values

    If a wrong signature is written, the device refuses to restore the defaults and responds with abort domain transfer: Error code 0800 0020h.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 176...

  • Page 127: Object 1018H: Identity Object

    Revision number device specific UNSIGNED32 Serial number device specific UNSIGNED32  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 127 of 176...

  • Page 128: Structure Of The Mapping Parameter

    Byte 1 Byte 0 Byte 1 Byte 2 Byte 3  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 129: Object 1A01H: 2 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 129 of 176...

  • Page 130: Object 1A02H: 3 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 131: Object 1A03H: 4 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 131 of 176...

  • Page 132: Object 1A04H: 5 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 132 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 133: Object 1A10H: 11 Transmit Pdo Mapping

    Byte 1 Byte 0 Byte 1 Byte 2 Byte 3  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 133 of 176...

  • Page 134: Object 1A11H: 12 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 135: Object 1A12H: 13 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 135 of 176...

  • Page 136: Object 1A13H: 14 Transmit Pdo Mapping

    Byte 1 Byte 2 Byte 3 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 137: Object 1A14H: 15 Transmit Pdo Mapping

    Byte 3 Byte 0 Byte 1 Byte 0 Byte 1  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 137 of 176...

  • Page 138: Object 1C00H: Sync Manager Communication Type

    Access PDO mapping 1: Receive mailbox (Master --> Slave) Value  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...
  • Page 139 Access PDO mapping 4: Process data input (Slave --> Master) Value  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 139 of 176...

  • Page 140: Object 1C13H: Sync Manager Channel 3 (Process Data Input)

    0x1A13: TxPDO 14 0x1A14: TxPDO 15 0x1A00: TxPDO 1 Default  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 141: Object 1C33H: Sync Manager 3, Parameter

    Access PDO mapping Min. time between two SM2/3 events in ns. Value  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 141 of 176...
  • Page 142 Value process data from the local memory to the Sync Manager before the data is available for EtherCAT.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 142 of 176 TR - ECE - BA - DGB - 0080 - 05...
  • Page 143 PDO mapping Only important for synchronization type = 2 and Value subordinated local cycles.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 144: Manufacturer And Profile Specific Objects (Cia Ds-406)

    Unsigned32 Table 6: Encoder profile range TR Objects CiA DS-406 Objects  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 176 TR - ECE - BA - DGB - 0080 - 05...
  • Page 145 Manufacturer and Profile Specific Objects (CiA DS-406) only available with optional incremental interface  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 145 of 176...

  • Page 146: Object 2000H: Mode Selection Tr / Cia Ds-406

    0x2004, Number of revolution - denominator 0x2005, Speed resolution 0x2006, Additional parameterization possibilities  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 147: Tr - Mode

    0x0000 = increasing 0x0001 = decreasing Upper limit 0x0000 Default  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 147 of 176...

  • Page 148: Scaling Parameter

    Total measuring range = Steps per revolution * Number of revolutions To calculate, the parameters steps/rev. and the number of revolutions can be read on the measuring system nameplate.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 176...

  • Page 149: Object 2003 - 2004H: Tr-Number Of Revolutions Numerator / Denominator

    Number of revolutions: Number of revolutions numerator Number of revolutions = Number of revolutions denominator  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...
  • Page 150 (zero transition) if the distance travelled is exceeded. To simplify matters the complete revolution range of the measuring system can also be programmed.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 176...
  • Page 151 = 1348.073499 steps / rev. * 1 revolution denominator = 5521709 steps (rounded off)  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 152: Object 2005H: Tr-Speed Unit

    TR / Additional Parameter/Command Description UNSIGNED32 Data type Category Optional Access PDO mapping  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 153: Object 2400H: Phase K1/K2

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 153 of 176...

  • Page 154: Object 2402H: K0 Condition

    Data type UNSIGNED16 Category Optional Access nein PDO mapping Default  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 155: Object 3101H: Input

    * If the result of the scaling parameters is not an integer in “Steps per revolution” or “Number of revolutions” a rounded single turn/multi turn value is output.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany...

  • Page 156: Cia Ds-406 - Mode

    0x0000 = increasing Lower limit 0x0001 = decreasing Upper limit Default 0x0000  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 156 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 157: Scaling Parameter

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 157 of 176...

  • Page 158: Object 6002H: Total Measuring Range

    1…256000 = Number of revolutions 1…16384  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 176 TR - ECE - BA - DGB - 0080 - 05...
  • Page 159 It may therefore occur that the total number of steps actually required is not achieved and the measuring system generates a zero transition before it reaches the maximum mechanical distance.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 160: Object 6003H: Preset Value

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 161: Object 6030H: Speed

    (15 bit) 32.768 steps/revolution If the value range of the speed is under or over the limits of -32768…+32767, the limit values (0x7FFF or 0x8000) will be output.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013...

  • Page 162: Measuring System Diagnostics

    2 Standard value: 4096 = 1000h steps per revolution (depending on capacity marked on nameplate).  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 163: Object 6502H: Number Of Revolutions

    Data type Category Mandatory Access PDO mapping device specific Upper limit  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 163 of 176...

  • Page 164: Object 6503H: Alarms

    The measuring system detects a wrong checksum in the EE-Prom area or a write process into the EE-Prom could not be finished successfully.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 176...

  • Page 165: Object 6504H: Supported Alarms

    EE-PROM error Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 165 of 176...

  • Page 166: Object 6505H: Warnings

    ≤ -25 °C ; approx. ≥ +85 °C - Temperature warning: All warnings are cleared if the tolerances are again within normal parameters.  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 166 of 176...

  • Page 167: Object 6506H: Supported Warnings

    Temperature warning Manufacturer specific functions Manufacturer specific functions Manufacturer specific functions  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 167 of 176...

  • Page 168: Object 6507H: Profile And Software Version

    Byte 3 to 2 to 2 to 2 to 2  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 169: Object 6508H: Operating Time

    Operating Time Description Data type UNSIGNED32 Category Optional Access PDO mapping  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 169 of 176...

  • Page 170: Read-Out The Supported Objects Of The Measuring System

    ● Click the Advanced button ● Select radio button Online... ● --> All Objects  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 171: Error Causes And Remedies

    = 1, Memory area in internal EE-PROM error EE-PROM defective  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 171 of 176...

  • Page 172: Abort Sdo Transfer Request Protocol

    Abort code DWORD Abort code Table 7: Abort SDO Transfer Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 176 TR - ECE - BA - DGB - 0080 - 05...

  • Page 173: Sdo Abort Codes

    0x08 00 00 23 Dynamic creation error in the object dictionary, or no object dictionary present Table 8: SDO Abort Codes  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05...

  • Page 174: Emergency Request Protocol

    Error Code F000-FFFF: Manufacturer-specific error field reserved BYTE[n-10] not yet specified Table 9: Emergency Request  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 176 TR - ECE - BA - DGB - 0080 - 05 10/07/2013...

  • Page 175: Emergency Error Codes

    Device profile-specific reserved, always 0 Manufacturer-specific Table 11: Structure of the error register  TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany 10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 175 of 176...

  • Page 176: Miscellaneous Faults

     TR-Electronic GmbH 2010, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 176 TR - ECE - BA - DGB - 0080 - 05...

This manual is also suitable for:

Ceh-110Coh-110

Table of Contents